ROS下使用UST

编程入门行业动态更新时间:2024-10-11 13:24:34

ROS下使用UST

安装系统环境：

ubuntu-14.04.5-amd64

ROS-indigo

1 安装cartographer

参考网址：.html

总共需要安装3个软件包：ceres solver、cartographer和cartographer_ros

1.1 安装所有依赖项

sudo apt-get install -y google-mock libboost-all-dev libeigen3-dev libgflags-dev libgoogle-glog-dev liblua5.2-dev libprotobuf-dev libsuitesparse-dev libwebp-dev ninja-build protobuf-compiler python-sphinx ros-indigo-tf2-eigen libatlas-base-dev libsuitesparse-dev liblapack-dev

1.2 安装ceres solver软件包

1. git clone .11.0.git

2. cd ceres-solver-1.11.0

3. cmake .

4. make

5. sudo make install

1.3 安装 cartographer软件包

1. git clone .git

2. cd cartographer

3. cmake . -G Ninja

4. ninja

5. ninja test

6. sudo ninja install

上述第3步执行错误的可以忽略3-6步，改用下面的方法。

7. cmake .

8. make

9. sudo make install

1.4 安装cartographer_ros软件包

下载到catkin_ws下面的src文件夹下面

1. cd catkin_ws/src

2. git clone .git

3. cd ..

4. catkin_make

为了使节点生效，运行：

1. source catkin_ws/devel/setup.bash

2. rospack profile

2 运行demo测试

2.1 下载数据

2D数据下载网址，大概500M：

.bag

2.2 运行

后面的路径为数据包所在路径。

roslaunch cartographer_ros demo_backpack_2d.launch bag_filename:=${HOME}/Downloads

/cartographer_paper_deutsches_museum.bag

3 使用UST-10LX运行cartographer

3.1 修改demo_revo_lds.launch

路径：cartographer_ros/cartographer_ros/launch/demo_revo_lds.launch

修改后：

<launch><param name="/use_sim_time" value="true" /><node name="cartographer_node" pkg="cartographer_ros"type="cartographer_node" args="-configuration_directory $(find cartographer_ros)/configuration_files-configuration_basename revo_lds.lua"output="screen"><remap from="scan" to="scan" /></node><node name="rviz" pkg="rviz" type="rviz" required="true"args="-d $(find cartographer_ros)/configuration_files/demo_2d.rviz" /></launch>

3.2 修改参数配置文件revo_lds.lua

路径：cartographer_ros/cartographer_ros/configuration_files/revo_lds.lua

修改后：

include "map_builder.lua"options = {map_builder = MAP_BUILDER,sensor_bridge = {  horizontal_laser_min_range = 0.3,  horizontal_laser_max_range = 10.,  horizontal_laser_missing_echo_ray_length = 1,  constant_odometry_translational_variance = 0.,  constant_odometry_rotational_variance = 0.,  }, map_frame = "map",tracking_frame = "laser",published_frame = "laser",odom_frame = "odom",provide_odom_frame = true,use_odometry_data = false,use_constant_odometry_variance = true,constant_odometry_translational_variance = 0.,constant_odometry_rotational_variance = 0.,use_horizontal_laser = true,use_horizontal_multi_echo_laser = false,horizontal_laser_min_range = 0.3,horizontal_laser_max_range = 10.,horizontal_laser_missing_echo_ray_length = 1.,num_lasers_3d = 0,lookup_transform_timeout_sec = 0.2,submap_publish_period_sec = 0.3,pose_publish_period_sec = 5e-3,
}MAP_BUILDER.use_trajectory_builder_2d = true
TRAJECTORY_BUILDER_2D.use_imu_data = false
TRAJECTORY_BUILDER_2D.use_online_correlative_scan_matching = true
SPARSE_POSE_GRAPH.optimization_problem.huber_scale = 1e2return options